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<a href="#pub-methods">Public Member Functions</a> &#124;
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<div class="title">ArTCMCompassDirect Class Reference</div>  </div>
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<p>Talk to a compass directly over a computer serial port.  
 <a href="classArTCMCompassDirect.html#details">More...</a></p>

<p><code>#include &lt;ArTCMCompassDirect.h&gt;</code></p>

<p>Inherits <a class="el" href="classArTCM2.html">ArTCM2</a>.</p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:acfac10ee575b3c9c56bec97ba7d8d9b1"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acfac10ee575b3c9c56bec97ba7d8d9b1"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>ArTCMCompassDirect</b> (<a class="el" href="classArDeviceConnection.html">ArDeviceConnection</a> *devCon)</td></tr>
<tr class="separator:acfac10ee575b3c9c56bec97ba7d8d9b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7e96f8a437ff8c0b89c7e704db75832c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7e96f8a437ff8c0b89c7e704db75832c"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>ArTCMCompassDirect</b> (const char *serialPortName=ARTCM2_DEFAULT_SERIAL_PORT)</td></tr>
<tr class="separator:a7e96f8a437ff8c0b89c7e704db75832c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a8467fd6d8705e3a348f079e2b4b58f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5a8467fd6d8705e3a348f079e2b4b58f"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>blockingConnect</b> (unsigned long connectTimeout=5000)</td></tr>
<tr class="separator:a5a8467fd6d8705e3a348f079e2b4b58f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae86ed13fbcae5fa8e76d0e6ddc50f3fe"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae86ed13fbcae5fa8e76d0e6ddc50f3fe"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCMCompassDirect.html#ae86ed13fbcae5fa8e76d0e6ddc50f3fe">commandAutoCalibration</a> ()</td></tr>
<tr class="memdesc:ae86ed13fbcae5fa8e76d0e6ddc50f3fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Send commands to begin calibrating. <br /></td></tr>
<tr class="separator:ae86ed13fbcae5fa8e76d0e6ddc50f3fe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2419d8c6fdcca39494a579e698549cf9"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCMCompassDirect.html#a2419d8c6fdcca39494a579e698549cf9">commandJustCompass</a> ()</td></tr>
<tr class="memdesc:a2419d8c6fdcca39494a579e698549cf9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Same as <a class="el" href="classArTCMCompassDirect.html#a9c392ac0c9968c0f9cdac57c547ebf61" title="Send commands to start/stop sending data. ">commandContinuousPackets()</a> in this implementation.  <a href="#a2419d8c6fdcca39494a579e698549cf9">More...</a><br /></td></tr>
<tr class="separator:a2419d8c6fdcca39494a579e698549cf9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aae038b6b57851fbf2aed64cd0c08d872"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCMCompassDirect.html#aae038b6b57851fbf2aed64cd0c08d872">commandSoftReset</a> ()</td></tr>
<tr class="memdesc:aae038b6b57851fbf2aed64cd0c08d872"><td class="mdescLeft">&#160;</td><td class="mdescRight">Not implemented yet.  <a href="#aae038b6b57851fbf2aed64cd0c08d872">More...</a><br /></td></tr>
<tr class="separator:aae038b6b57851fbf2aed64cd0c08d872"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1c53aa53dcefeab97cc94922656a0911"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1c53aa53dcefeab97cc94922656a0911"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>commandStopCalibration</b> ()</td></tr>
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<tr class="memitem:ac7d2dec5fefcc131234af1b54819d23e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac7d2dec5fefcc131234af1b54819d23e"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>commandUserCalibration</b> ()</td></tr>
<tr class="separator:ac7d2dec5fefcc131234af1b54819d23e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a62383530bc16af4d2b923ebfbc98faa6"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCMCompassDirect.html#a62383530bc16af4d2b923ebfbc98faa6">connect</a> ()</td></tr>
<tr class="memdesc:a62383530bc16af4d2b923ebfbc98faa6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Open device connection if not yet open and send commands to configure compass.  <a href="#a62383530bc16af4d2b923ebfbc98faa6">More...</a><br /></td></tr>
<tr class="separator:a62383530bc16af4d2b923ebfbc98faa6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad3b610e397855e0eb59db24a6fb6d43b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad3b610e397855e0eb59db24a6fb6d43b"></a>
<a class="el" href="classArDeviceConnection.html">ArDeviceConnection</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>getDeviceConnetion</b> ()</td></tr>
<tr class="separator:ad3b610e397855e0eb59db24a6fb6d43b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aebe52e5b8f1cdeca50c99e95e656dbcd"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCMCompassDirect.html#aebe52e5b8f1cdeca50c99e95e656dbcd">read</a> (unsigned int msWait=1)</td></tr>
<tr class="memdesc:aebe52e5b8f1cdeca50c99e95e656dbcd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read all available data, store, and call callbacks if any were added.  <a href="#aebe52e5b8f1cdeca50c99e95e656dbcd">More...</a><br /></td></tr>
<tr class="separator:aebe52e5b8f1cdeca50c99e95e656dbcd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a915890f7feead12c8b6d4f8876685f51"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a915890f7feead12c8b6d4f8876685f51"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>setDeviceConnection</b> (<a class="el" href="classArDeviceConnection.html">ArDeviceConnection</a> *devCon)</td></tr>
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<tr><td colspan="2"><div class="groupHeader"></div></td></tr>
<tr class="memitem:a9c392ac0c9968c0f9cdac57c547ebf61"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCMCompassDirect.html#a9c392ac0c9968c0f9cdac57c547ebf61">commandContinuousPackets</a> ()</td></tr>
<tr class="memdesc:a9c392ac0c9968c0f9cdac57c547ebf61"><td class="mdescLeft">&#160;</td><td class="mdescRight">Send commands to start/stop sending data.  <a href="#a9c392ac0c9968c0f9cdac57c547ebf61">More...</a><br /></td></tr>
<tr class="separator:a9c392ac0c9968c0f9cdac57c547ebf61"><td class="memSeparator" colspan="2">&#160;</td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>commandOnePacket</b> ()</td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>commandOff</b> ()</td></tr>
<tr class="separator:ad10db749a3dbbb995adf91ef2cd421e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classArTCM2"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classArTCM2')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classArTCM2.html">ArTCM2</a></td></tr>
<tr class="memitem:ae58e769bfd2e321b2e698a8cdfd20ecc inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae58e769bfd2e321b2e698a8cdfd20ecc"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>addHeadingDataCallback</b> (<a class="el" href="classArFunctor1.html">ArFunctor1</a>&lt; double &gt; *f)</td></tr>
<tr class="separator:ae58e769bfd2e321b2e698a8cdfd20ecc inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1d354c63ca69759dcef14f7d12a5d1bd inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1d354c63ca69759dcef14f7d12a5d1bd"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a1d354c63ca69759dcef14f7d12a5d1bd">getCalibrationH</a> (void) const </td></tr>
<tr class="memdesc:a1d354c63ca69759dcef14f7d12a5d1bd inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the calibration H score (See TCM Manual) <br /></td></tr>
<tr class="separator:a1d354c63ca69759dcef14f7d12a5d1bd inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adffff5238710ed005d2b85ad632ddc58 inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adffff5238710ed005d2b85ad632ddc58"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#adffff5238710ed005d2b85ad632ddc58">getCalibrationM</a> (void) const </td></tr>
<tr class="memdesc:adffff5238710ed005d2b85ad632ddc58 inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the calibration M score (See TCM Manual) <br /></td></tr>
<tr class="separator:adffff5238710ed005d2b85ad632ddc58 inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3c147f489fefc9b0b2180e5121ebe3ca inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3c147f489fefc9b0b2180e5121ebe3ca"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a3c147f489fefc9b0b2180e5121ebe3ca">getCalibrationV</a> (void) const </td></tr>
<tr class="memdesc:a3c147f489fefc9b0b2180e5121ebe3ca inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the calibration V score (See TCM Manual) <br /></td></tr>
<tr class="separator:a3c147f489fefc9b0b2180e5121ebe3ca inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acf62aab4d19e4f1924794ea6532d794f inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#acf62aab4d19e4f1924794ea6532d794f">getCompass</a> (void) const </td></tr>
<tr class="memdesc:acf62aab4d19e4f1924794ea6532d794f inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the compass heading (-180, 180] degrees.  <a href="#acf62aab4d19e4f1924794ea6532d794f">More...</a><br /></td></tr>
<tr class="separator:acf62aab4d19e4f1924794ea6532d794f inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a37ea3f24df1ea8658e200a6a0c788d82 inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a37ea3f24df1ea8658e200a6a0c788d82"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>getError</b> (void) const </td></tr>
<tr class="separator:a37ea3f24df1ea8658e200a6a0c788d82 inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a02eaefd0ee678b5e01f5d94ba883cd3f inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a02eaefd0ee678b5e01f5d94ba883cd3f"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a02eaefd0ee678b5e01f5d94ba883cd3f">getHeading</a> (void) const </td></tr>
<tr class="memdesc:a02eaefd0ee678b5e01f5d94ba883cd3f inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the compass heading (-180, 180] degrees. <br /></td></tr>
<tr class="separator:a02eaefd0ee678b5e01f5d94ba883cd3f inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aef135653337700db560d061cb4722d46 inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aef135653337700db560d061cb4722d46"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#aef135653337700db560d061cb4722d46">getPacCount</a> (void)</td></tr>
<tr class="memdesc:aef135653337700db560d061cb4722d46 inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the number of readings recieved in the last second. <br /></td></tr>
<tr class="separator:aef135653337700db560d061cb4722d46 inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a351381b91db9a6ecf47f68df800998f8 inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a351381b91db9a6ecf47f68df800998f8"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a351381b91db9a6ecf47f68df800998f8">getPitch</a> (void) const </td></tr>
<tr class="memdesc:a351381b91db9a6ecf47f68df800998f8 inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the pitch (-180,180] degrees. <br /></td></tr>
<tr class="separator:a351381b91db9a6ecf47f68df800998f8 inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a01a4ae402073f91a9e79dced2181a301 inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a01a4ae402073f91a9e79dced2181a301"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a01a4ae402073f91a9e79dced2181a301">getRoll</a> (void) const </td></tr>
<tr class="memdesc:a01a4ae402073f91a9e79dced2181a301 inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the roll (-180,180] degrees. <br /></td></tr>
<tr class="separator:a01a4ae402073f91a9e79dced2181a301 inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a41ebde0196e3b1b7973bd8e7e7f1ed2d inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a41ebde0196e3b1b7973bd8e7e7f1ed2d"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a41ebde0196e3b1b7973bd8e7e7f1ed2d">getTemperature</a> (void) const </td></tr>
<tr class="memdesc:a41ebde0196e3b1b7973bd8e7e7f1ed2d inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the temperature (degrees C) <br /></td></tr>
<tr class="separator:a41ebde0196e3b1b7973bd8e7e7f1ed2d inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a65b7d3f541cef8f29557d4d43defc255 inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a65b7d3f541cef8f29557d4d43defc255"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a65b7d3f541cef8f29557d4d43defc255">getXMagnetic</a> (void) const </td></tr>
<tr class="memdesc:a65b7d3f541cef8f29557d4d43defc255 inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the magnetic field X component (See TCM2 Manual) <br /></td></tr>
<tr class="separator:a65b7d3f541cef8f29557d4d43defc255 inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72a1aa71f7981d8d3f121b7295688c66 inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a72a1aa71f7981d8d3f121b7295688c66"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a72a1aa71f7981d8d3f121b7295688c66">getYMagnetic</a> (void) const </td></tr>
<tr class="memdesc:a72a1aa71f7981d8d3f121b7295688c66 inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the magnetic field Y component (See TCM2 Manual) <br /></td></tr>
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<tr class="memdesc:a9d748cf260579ee8bdbdc8afd59c569b inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the magnetic field Z component (See TCM2 Manual) <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>havePitch</b> () const </td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>haveRoll</b> () const </td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myYMag</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Talk to a compass directly over a computer serial port. </p>
<p>This class configures and recieves compass heading data from a TCM2 or TCM2.5 compass directly over a computer serial port, rather than via tha robot. This class cannot recieve pitch, roll or temperature data from the compass. On all Pioneer robots, the TCM compass (as originally installed by MobileRobots) is connected to the robot microcontroller, so if you have a Pioneer with this configuration, you should instead use the <a class="el" href="classArTCMCompassRobot.html" title="Interface to a TCM 2/2.5/2.6 3-axis compass through the robot microcontroller. ">ArTCMCompassRobot</a> class. Only use this class if you have connected the compass to the computer serial port.</p>
<p>You can create an instance of this class directly, or using an <a class="el" href="classArCompassConnector.html" title="Use this class to create an instance of a TCM2 subclass and connect to the device based on program co...">ArCompassConnector</a> object and giving the "-compassType serialtcm" program argument.</p>
<p>If you create your own <a class="el" href="classArTCMCompassDirect.html" title="Talk to a compass directly over a computer serial port. ">ArTCMCompassDirect</a> object, you must call the <a class="el" href="classArTCMCompassDirect.html#aebe52e5b8f1cdeca50c99e95e656dbcd" title="Read all available data, store, and call callbacks if any were added. ">read()</a> method periodically (ideally at the same rate the compass sends data, approx. 8 hz by default) to read and parse incoming data. You can use an <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> callback to do this, for example: </p><div class="fragment"><div class="line"><a class="code" href="classArRetFunctor1C.html">ArRetFunctor1C&lt;int, ArTCMCompassDirect, unsigned int&gt;</a> compassReadFunc(myCompass, &amp;<a class="code" href="classArTCMCompassDirect.html#aebe52e5b8f1cdeca50c99e95e656dbcd">ArTCMCompassDirect::read</a>, 10);</div><div class="line">myRobot-&gt;addSensorInterpTask(<span class="stringliteral">&quot;ArTCMCompassDirect read&quot;</span>, 200, &amp;compassReadFunc);</div></div><!-- fragment --><p>If you use <a class="el" href="classArCompassConnector.html" title="Use this class to create an instance of a TCM2 subclass and connect to the device based on program co...">ArCompassConnector</a>, however, it will automatically do this. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">void ArTCMCompassDirect::commandContinuousPackets </td>
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<p>Send commands to start/stop sending data. </p>

<p>Implements <a class="el" href="classArTCM2.html#a8b57b5ac6e217d7494cc72cfae61f171">ArTCM2</a>.</p>

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          <td class="memname">virtual void ArTCMCompassDirect::commandJustCompass </td>
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<p>Same as <a class="el" href="classArTCMCompassDirect.html#a9c392ac0c9968c0f9cdac57c547ebf61" title="Send commands to start/stop sending data. ">commandContinuousPackets()</a> in this implementation. </p>

<p>Implements <a class="el" href="classArTCM2.html#af1af3c0170ed4c7a63fa6d00ce4a8d6b">ArTCM2</a>.</p>

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          <td class="memname">virtual void ArTCMCompassDirect::commandSoftReset </td>
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<p>Not implemented yet. </p>

<p>Implements <a class="el" href="classArTCM2.html#a932f31b8962d13d634e79b74337e817b">ArTCM2</a>.</p>

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          <td class="memname">bool ArTCMCompassDirect::connect </td>
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<p>Open device connection if not yet open and send commands to configure compass. </p>

<p>Reimplemented from <a class="el" href="classArTCM2.html#aadac4c6e5254827cc598dbfab7e671fe">ArTCM2</a>.</p>

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          <td class="memname">int ArTCMCompassDirect::read </td>
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          <td class="paramname"><em>msWait</em> = <code>1</code></td><td>)</td>
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<p>Read all available data, store, and call callbacks if any were added. </p>
<p>unsigned int msWait If 0, wait indefinately for new data. Otherwise, wait a maximum of this many milliseconds for data to arrive. </p><dl class="section return"><dt>Returns</dt><dd>A value &gt; 0 if messages were recieved from the compass, 0 if no data was recieved, and a value &lt; 0 on error reading from the compass. </dd></dl>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>ArTCMCompassDirect.h</li>
<li>ArTCMCompassDirect.cpp</li>
</ul>
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